chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor mj_fullM. This change is part of the deprecation of mjData.qM.

Browse Source 
PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
This commit is contained in:
Yuval Tassa
2026-06-02 17:22:15 -07:00
committed by Copybara-Service
parent 49211a05c5
commit 7b9b88060e
15 changed files with 49 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+6
View File
@@ -30,6 +30,12 @@ General
the :math:`A` ("Delassus") matrix.
- The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
- Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to ``mj_fullM(m, d, dst)`` as part of the
planned deprecation of ``mjData.qM`` in favor of the CSR-format ``mjData.M``.
**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)`` or
``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
Bug fixes
^^^^^^^^^
- Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.